Plane 4.3.0beta Release


I’ve just released plane 4.3.0beta1. This is the first beta of the 4.3.0 stable release. There are a lot of
changes since the 4.2.3 stable release. Key changes are:

  • added new boards AtomRCF405NAVI, KakuteH7Mini-Nand, SkystarsH7HD
  • added bi-directional dshot for several new boards
  • EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source
  • EKF ring buffer fix for slow sensor updates
  • EKF3 source set change captured in replay logs
  • numerous gimbal support improvements
  • improved RemoteId support
  • SecureBoot support with remote update of secure boot public keys
  • crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures)
  • several new pre-arm checks (AHRS type, scripts, terrain)
  • numerous scripting improvements
  • fixed scripting restart leaking memory
  • Benewake H30 radar support
  • BMI270 IMU performance improvements
  • Logging pause with auxiliary switch
  • TeraRanger Neo rangefinder support
  • support for both AMSL and ellipsoid height in most GPS drivers
  • Custom controller support
  • parameter defaults sent with param FTP and onboard logs
  • Sim on Hardware allows simulator to run on autopilot
  • added Q_LAND_ALTCHG parameter
  • added climb before QRTL for safer QRTL from low altitudes
  • added support for logging pre and post filtered FFT data
  • support triple-notch harmonic notch filter
  • support up to 32 actuators (with SERVO_32_ENABLE parameter)
  • support EFI input over DroneCAN
  • by default only run notch filter on first IMU
  • added ESC_TLM_MAV_OFS parameter for mapping ESCs to MAVLink ESC telemetry
  • added Q_NAVALT_MIN for quadplane takeoff
  • added ICE redline governor
  • added in-flight FFT notch tuning option
  • added Sagetech ADSB support
  • added INS_HNTCH_FM_RAT parameter for handling under-hover throttle
  • improvements to filtering on ICM42xxx IMUs
  • added option parameters to NAV_VTOL_LAND mission item for fixed wing approach

Please report flight tests of the 4.3.0beta series in this forum. Both good and bad results are welcome.

Happy flying!

9 Likes

Hello,

thank you so much for this new version!

Will you implement Precision Landing using IR Lock beacon and a rangefinder for VTOLs in this version?

Thanks a lot

Great, I’ve done multiple tests, the logs are here:

CUAV V5+
CUAV X7+
CUAV X7+ Pro

1 Like

no, sorry, we didn’t get that done. I do intend to add it, but not for 4.3.x

Today I finally had the opportunity to fly with the 4.3.0 beta 1 firmware (on 3 aircraft):

  1. motorglider, Matek F405 Wing, update from 4.2.3 stable
  2. Z84 VTOL Quad, Matek F 765 Wing, update from 4.2.3 stable
  3. mini skywalker, first setup and flight with Matek H743 slim.
    Everything worked fine without problems (MANU, FBWA, QHOVER, transitions, CRUISE, Autostart) including a perfect AngleAssist after stall due to too steep climb of the Z84.

Thanks for the great development.

Rolf

3 Likes

thanks @Rolf, I really appreciate the testing!